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GridMap integration (#1082)

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* GridMap integration

* Updated with upstream changes

* updated with upstream changes

* some fixes
This commit is contained in:
matlabbe
2023-12-17 22:44:40 -08:00
committed by GitHub
parent 0748b91acc
commit 752e7524f5
6 changed files with 171 additions and 182 deletions
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rtabmap_util/CMakeLists.txt
+34 -12
View File
@@ -9,11 +9,15 @@ find_package(catkin REQUIRED COMPONENTS
# Optional components
find_package(octomap_msgs)
find_package(grid_map_ros)
SET(optional_dependencies "")
IF(octomap_msgs_FOUND)
SET(optional_dependencies ${optional_dependencies} octomap_msgs)
ENDIF(octomap_msgs_FOUND)
IF(grid_map_ros_FOUND)
SET(optional_dependencies ${optional_dependencies} grid_map_ros)
ENDIF(grid_map_ros_FOUND)
catkin_package(
INCLUDE_DIRS include
@@ -32,6 +36,11 @@ include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include
${catkin_INCLUDE_DIRS}
)
# libraries
SET(Libraries
${catkin_LIBRARIES}
)
SET(rtabmap_util_plugins_lib_src
src/MapsManager.cpp
@@ -65,6 +74,19 @@ SET(Libraries
ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
ENDIF(octomap_msgs_FOUND)
# If grid_map is found, add definition
IF(grid_map_ros_FOUND)
MESSAGE(STATUS "WITH grid_map_ros")
include_directories(
${grid_map_ros_INCLUDE_DIRS}
)
SET(Libraries
${grid_map_ros_LIBRARIES}
${Libraries}
)
ADD_DEFINITIONS("-DWITH_GRID_MAP_ROS")
ENDIF(grid_map_ros_FOUND)
############################
## Declare a cpp library
############################
@@ -72,51 +94,51 @@ add_library(rtabmap_util_plugins
${rtabmap_util_plugins_lib_src}
)
target_link_libraries(rtabmap_util_plugins
${catkin_LIBRARIES}
${Libraries}
)
add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
target_link_libraries(rtabmap_rgbd_relay ${catkin_LIBRARIES})
target_link_libraries(rtabmap_rgbd_relay ${Libraries})
set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
target_link_libraries(rtabmap_rgbd_split ${catkin_LIBRARIES})
target_link_libraries(rtabmap_rgbd_split ${Libraries})
set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
target_link_libraries(rtabmap_map_optimizer ${catkin_LIBRARIES})
target_link_libraries(rtabmap_map_optimizer ${Libraries})
set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins ${catkin_LIBRARIES})
target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins ${Libraries})
set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
target_link_libraries(rtabmap_imu_to_tf ${catkin_LIBRARIES})
target_link_libraries(rtabmap_imu_to_tf ${Libraries})
set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
target_link_libraries(rtabmap_lidar_deskewing ${catkin_LIBRARIES})
target_link_libraries(rtabmap_lidar_deskewing ${Libraries})
set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
target_link_libraries(rtabmap_data_player ${catkin_LIBRARIES})
target_link_libraries(rtabmap_data_player ${Libraries})
set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
target_link_libraries(rtabmap_odom_msg_to_tf ${catkin_LIBRARIES})
target_link_libraries(rtabmap_odom_msg_to_tf ${Libraries})
set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
target_link_libraries(rtabmap_pointcloud_to_depthimage ${catkin_LIBRARIES})
target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
target_link_libraries(rtabmap_point_cloud_aggregator ${catkin_LIBRARIES})
target_link_libraries(rtabmap_point_cloud_aggregator ${Libraries})
set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "point_cloud_aggregator")
add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
target_link_libraries(rtabmap_point_cloud_assembler ${catkin_LIBRARIES})
target_link_libraries(rtabmap_point_cloud_assembler ${Libraries})
set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
#############